Depth-related help functions for a shovel training simulator

ABSTRACT

Systems and methods for training an operator. One system includes a computing device including a processing unit and computer-readable medium. The computer-readable medium stores a training simulator application. The training simulator application, when executed by the processing unit, is configured to (i) receive an operating command from the operator, (ii) generate a simulated working environment and a simulated shovel having a simulated dipper, the simulated shovel and the simulated dipper positioned within the simulated working environment based on the operating command, (iii) generate an indicator providing depth-related information to an operator relating to a position of the simulated dipper with respect to a point-of-reference within the simulated working environment, and (iv) output the simulated working environment and the indicator to at least one output device for display to the operator.

RELATED APPLICATIONS

The present application is a continuation of U.S. application Ser. No.13/625,454 filed Sep. 24, 2012, which claims priority to U.S.Provisional Patent Application No. 61/742,096 filed Aug. 2, 2012. Theentire content of each of the above-identified applications isincorporated by reference herein.

BACKGROUND

This invention relates to methods and systems for training operators ofindustrial machines, such as shovels in a simulated environment.

SUMMARY

Industrial machines, such as electric rope or power shovels, draglines,etc., are used to execute digging operations to remove material from,for example, a bank of a mine. An operator controls a shovel during adig operation to load a dipper with materials. The operator deposits thematerials in the dipper into a haul truck. After unloading thematerials, the dig cycle continues and the operator swings the dipperback to the bank to perform additional digging.

Given the high cost of shovels and the value of efficient andcost-effective operation of the shovel, properly training an operator isimportant. However, based on these same parameters, providing real-worldor on-site training for operators is difficult. Therefore,computer-based training simulators can be used to train operators.Computer-based simulators generate a simulated training environment thatprovides a simulated shovel and a simulated working environment. Thetraining environment is displayed on at least one monitor or screen. Themonitor or screen, however, is two-dimensional. Therefore, it isdifficult to provide proper depth perspectives within the trainingenvironment. Even when the training environment is generated anddisplayed in three-dimensions (using computer-based technology), thetwo-dimensional nature of the monitor or screen limits the ability toproperly display depth.

Depth is an important aspect of operating a shovel in a real-worldenvironment. For example, an operator must properly position the dipperwith respect to the bank to prevent digging beneath the level-gradeplane of the bank. In addition, an operator must properly position thedipper over the bed of the haul truck to ensure materials in the dipperare deposited into the truck. Without having proper depth perspectivesfor these tasks, a training simulator may not properly train an operatorto perform these and other tasks with a shovel.

Therefore, embodiments of the invention provide methods for training anoperator of a shovel. One method includes generating, with a processor,a simulated training environment including a simulated shovel having asimulated dipper and displaying an indicator within the simulatedtraining environment marking at least a portion of a low-grade plane.The method also includes determining if at least a portion of thesimulated dipper is below the low-grade plane based on a position of thedipper within the simulated training environment, and, when at least aportion of the simulated dipper is below the low-grade plane, providingat least one warning to an operator of the simulated shovel.

Another method includes generating, with a processor, a simulatedtraining environment including a simulated haul truck and a simulatedshovel having a simulated dipper and displaying an indicator within thesimulated training environment of at least a portion of a swing path ofthe simulated dipper. The method also includes determining if thesimulated dipper is positioned within a predetermined distance from thesimulated haul truck, and alerting the operator when the simulateddipper is positioned within the predetermined distance from thesimulated haul truck.

A further embodiment of the invention provides a system for training anoperator. The system includes a computing device including a processingunit and computer-readable medium. The computer-readable medium stores atraining simulator application. The training simulator application, whenexecuted by the processing unit, is configured to (i) receive anoperating command from the operator, (ii) generate a simulated workingenvironment and a simulated shovel having a simulated dipper, thesimulated shovel and the simulated dipper positioned within thesimulated working environment based on the operating command, (iii)generate an indicator providing depth-related information to an operatorrelating to a position of the simulated dipper with respect to apoint-of-reference within the simulated working environment, and (iv)output the simulated working environment and the indicator to at leastone output device for display to the operator.

Other aspects of the invention will become apparent by consideration ofthe detailed description and accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The patent or application file contains at least one drawing executed incolor. Copies of this patent or patent application publication withcolor drawing(s) will be provided by the Office upon request and paymentof the necessary fee.

FIG. 1 illustrates a system for training an operator according to anembodiment of the invention.

FIGS. 2-4 are screen shots illustrating a simulated training environmentgenerated by the system of FIG. 1.

FIGS. 5a-c and 6a-b are screen shots illustrating a level-gradedetection function generated by the system of FIG. 1.

FIGS. 7a-b, 8a-c, and 9a-d are screen shots illustrating ashovel-to-truck alignment function generated by the system of FIG. 1.

DETAILED DESCRIPTION

Before any embodiments of the invention are explained in detail, it isto be understood that the invention is not limited in its application tothe details of construction and the arrangement of components set forthin the following description or illustrated in the following drawings.The invention is capable of other embodiments and of being practiced orof being carried out in various ways. Also, the methods, operations, andsequences described herein can be performed in various orders.Therefore, unless otherwise indicated herein, no required order is to beimplied from the order in which elements, steps, or limitations arepresented in the detailed description or claims of the presentapplication. Also unless otherwise indicated herein, the method andprocess steps described herein can be combined into fewer steps orseparated into additional steps.

In addition, it is to be understood that the phraseology and terminologyused herein is for the purpose of description and should not be regardedas limited. The use of “including,” “comprising” or “having” andvariations thereof herein is meant to encompass the items listedthereafter and equivalents thereof as well as additional items. Theterms “mounted,” “connected” and “coupled” are used broadly andencompass both direct and indirect mounting, connecting and coupling.Further, “connected” and “coupled” are not restricted to physical ormechanical connections or couplings, and can include electricalconnections or couplings, whether direct or indirect. Also, electroniccommunications and notifications may be performed using any known meansincluding direct connections, wireless connections, etc.

It should also be noted that a plurality of hardware and software baseddevices, as well as a plurality of different structural components maybe used to implement the invention. In addition, it should be understoodthat embodiments of the invention may include hardware, software, andelectronic components or modules that, for purposes of discussion, maybe illustrated and described as if the majority of the components wereimplemented solely in hardware. However, one of ordinary skill in theart, and based on a reading of this detailed description, wouldrecognize that, in at least one embodiment, the electronic based aspectsof the invention may be implemented in software (e.g., stored onnon-transitory computer-readable medium) executable by one or moreprocessors. As such, it should be noted that a plurality of hardware andsoftware based devices, as well as a plurality of different structuralcomponents may be utilized to implement the invention. For example,“controllers” described in the specification can include standardprocessing components, such as one or more processors, one or morecomputer-readable medium modules, one or more input/output interfaces,and various connections (e.g., a system bus) connecting the components.

FIG. 1 illustrates a system for training an operator according to anembodiment of the invention. The system includes a computing device 10including combinations of hardware and software operable to, among otherthings, generate a simulated training environment that provides asimulated shovel and a simulated working environment. As illustrated inFIG. 1, the computing device 10 includes, among other things, aprocessing unit 12 (e.g., a microprocessor, a microcontroller, oranother suitable programmable device), non-transitory computer-readablemedium 14, and an input/output interface 16. The processing unit 12, themedium 14, and the input/output interface 16 are connected by one ormore control and/or data buses (e.g., a common bus 18). The controland/or data buses are shown generally in FIG. 1 for illustrativepurposes.

It should be understood that in other constructions, the computingdevice 10 includes additional, fewer, or different components. It shouldalso be understood that the computing device 10 can include a generalpurpose computer that executes various modules or applications stored inthe medium 14. In other embodiments, the computing device 10 includes aserver that executes various modules or applications, and other devicesconnect to the server (e.g., over at least one network) to provide inputto and access output from the server. In still other embodiments, thecomputing device 10 is a dedicated device providing simulated trainingand is included as part of a console that includes mock shovel interiorsmounted on a platform to simulate an actual shovel.

The computer-readable medium 14 stores program instructions and dataand, in particular, stores a training simulator application 19. Theprocessing unit 12 is configured to retrieve the application 19 from themedium 14 and execute the application 19 to generate a simulatedtraining environment that includes a simulated shovel and a simulatedworking environment as described below. The input/output interface 16transmits data from the computing device 10 to external systems,networks, and/or devices and receives data from external systems,networks, and/or devices. The input/output interface 16 can also storedata received from external sources to the medium 14 and/or provide thedata to the processing unit 12.

As illustrated in FIG. 1, the input/output interface 16 communicateswith at least one input device 20. The input device 20 can include adevice controlled by an operator to issue operating commands for thesimulated shovel (e.g., propel shovel, swing dipper, hoist dipper, crowddipper, dump materials from dipper, etc.) and/or select operatingparameters for the simulated working environment (e.g., camera view,shovel type, mine type, weather, time of day, etc.). For example, theinput device 20 can include a keyboard, a joystick, a mouse, atouchscreen, a trackball, tactile buttons, a pedal, etc. In someembodiments, the input device 20 includes similar control devices asincluded in an actual shovel. The input device 20 can be connected tothe computing device 10 via one or more wired connections (e.g., auniversal serial bus (“USB”) cable) and/or wireless connections. In someembodiments, when the computing device 10 acts as a server that hoststhe training simulator, the input device 20 includes a computing devicethat accesses the server over at least one network (e.g., a local areanetwork (“LAN”) or the Internet).

The input/output interface 16 also communicates with at least one outputdevice 22. The output device 22 can include at least one monitor orscreen (e.g., a liquid crystal display (“LCD”) monitor) that displaysthe generated simulated training environment to the operator. In someembodiments, the output device 22 includes multiple screens that providethe operator with a wide view of the training environment. The outputdevice 22 can also include a projector that projects the generatedtraining environment on at least one surface. The output device 22 canalso include a device that provides audible or tactile feedback to theoperator. For example, the output device 22 can include one or morespeakers that provide audible warnings or realistic worksite sounds tothe operator. The output device 22 can also include a vibration devicethat provides tactile feedback to the operator (e.g., indicating acollision or impact). In some embodiments, the output device 22 alsoincludes a movable chair that moves (e.g., using hydraulic mechanisms)to provide the operator with a realistic training experience. Asdescribed above for the input device, the output device 22 can beconnected to the computing device 10 via one or more wired connectionsand/or wireless connections.

It should be understood that in some embodiments a device can beconnected to the input/output interface 16 that operates as both aninput device 20 and an output device 22. For example, a touchscreen canbe used that displays a simulated training environment to an operatorand receives commands or selections from the operator. In addition, whenthe computing device 10 operates as a server that hosts the trainingsimulator application 19, devices accessing the server operate as bothan input device 20 and an output device 22.

As mentioned above, the computing device 10 executes the trainingsimulator application 19 to generate a simulated training environment.FIGS. 2-4 are screen shots illustrating a simulated training environmentgenerated by the application 19 according to embodiments of theinvention. As illustrated in FIGS. 2-4, the training environmentincludes a simulated shovel 50, which includes a simulated dipper 55.The simulated shovel 50 is displayed within a simulated workingenvironment (e.g., a simulated surface mine), which can include othervehicles and objects, such as a simulated haul truck 60. As illustratedin FIGS. 2-4, the application 19 can display the simulated trainingenvironment from multiple camera views or perspectives.

To provide depth perspectives within the simulated training environment,the application 19 includes instructions and data for providing variousdepth-related help functions. The help functions provide variousindicators (e.g., visual, audible, tactile, etc.) within the simulatedtraining environment to aid the operator in judging depth and operatingthe shovel 50 accordingly. One help function provided by the application19 includes a level-grade detection function. The level-grade detectionfunction detects when an operator is digging with the simulated dipper55 beneath the level-grade plane 65 (e.g., the ground the shovel 50 sitson) within the simulated training environment. In a real-worldsituation, if an operator digs lower than the level-grade plane, a ditchis formed in the ground supporting the shovel and the shovel can sinkinto the ditch, which creates an unsafe situation for the operator andthe shovel.

As illustrated in FIGS. 5a-c , the level-grade detection functionprovided by the application 19 displays an indicator 80 within thesimulated environment marking at least a portion of the level-gradeplane 65. In some embodiments, the application 19 display the indicator80 adjacent to a side wall or bank 90 where an operator should dig. Theindicator 80 helps operators gain perspective when trying to place teethof the dipper 55 in the appropriate area of the bank 90. As illustratedin FIGS. 5a-c , the indicator 80 can include an area of coloredhighlighting overlaying or replacing a portion of the ground or surfacewhere the shovel 50 is digging (e.g., in a color different from thecolor of the ground or surface). In other embodiments, the indicator 80can include a marker or symbol, an outline or line, or animation (e.g.,flashing colors, lines, or shapes) in place of or in addition to thehighlighted area.

As the operator moves the dipper 55 within the simulated environment(e.g., using one or more input devices 20), the application 19 detectswhether a portion of the dipper 55 (e.g., a teeth of the dipper 55) ispositioned lower or beneath the level-grade plane 65. If the operatormoves a portion of the simulated dipper 55 beneath the level-grade plane65, the application 19 provides a warning to the operator. In someembodiments, the application 19 changes the indicator 80 (e.g., color,size, shape, pattern, or animation) to provide a warning to theoperator. For example, if the dipper 55 is not positioned beneath thelevel-grade plane 65, the application 19 displays the indicator 80 in afirst color (e.g., green) (see FIGS. 5a-c ). If at least a portion ofthe dipper 55 is positioned beneath the level-grade plane 65, theapplication 19 displays the indicator 80 in a second color (e.g., red)(see FIGS. 6a-b ). Also, in some embodiments, the application 19gradually fades the indicator 80 from one color to another depending onthe position of the dipper 55 relative to the level-grade plane 65. Forexample, the application 19 can gradually fade the indicator 80 from afirst color into a second color such that the color of the indicator 80approaches the second color the lower the operator positions the dipper55 beneath the level-grade plane 65. The application 19 can also usemultiple colors to inform the operator of how far the dipper 55 ispositioned above, at, or beneath the level-grade plane. Therefore, oneof the operator's goals can be to keep the indicator 80 as close to aparticular color as possible by placing the dipper's teeth at the seamof the level-ground plane 65 and the bank 90.

Alternatively or in addition, the application 19 can be configured touse features of the indicator 80 other than color to alert an operatorwhen the dipper 55 is positioned lower than the plane 65. For example,the application 19 can be configured to change the size, pattern, shape,or animation (e.g., flash or pulse the indicator) of the indicator 80when the dipper 55 is positioned lower than the plane 65. In addition toor alternatively to using the indicator 80 to provide a warning to theoperator, the application 19 can be configured to display a visualwarning within the simulated environment (e.g., text-based warnings,additional color highlighting of the dipper 55, shovel 50, and/orenvironment) and/or generate an audible or tactile warning to alert theoperator that the dipper 55 is positioned below grade.

It should be understood that in some embodiments, the application 19only provides the indicator 80 (or otherwise provides the operator witha warning or other feedback) when the operator positions the simulateddipper 55 beneath the level-grade plane 65. For example, if the dipper55 is not positioned below-grade, the application 19 may not display theindicator 80.

In addition to or alternatively to the level-grade detection function,the application 19 can provide a shovel-alignment depth-relatedfunction. This function helps an operator align the dipper 55 with otherobjects in the simulated working environment or to avoid other objectsin the simulated working environment as the dipper 55 swings. Forexample, an operator can use the shovel alignment function to align thedipper 55 with a simulated haul truck 60 to ensure that materials fromthe dipper 55 are properly deposited into the truck 60. As illustratedin FIGS. 7a-b , to provide this function, the application 19 displays anindicator 100. The indicator 100 marks at least a portion of a swingpath of the dipper 55 (e.g., a path of the center of the dipper 55). Ifthe indicator 100 intersects or overlaps with an object within thesimulated working environment, an operator knows that the object willoverlap with the dipper 55 in at least one dimension (e.g., depth) ifthe dipper 55 is swung to that location (e.g., without otherwise movingthe shovel 50). As illustrated in FIGS. 7a-b , the indicator 100 can bea circular outline. In still other embodiments, the indicator 100 caninclude a marker or symbol, a shape or area, or animation (e.g.,flashing colors, lines, or shapes) in place of or in addition to thecircular outline.

The application 19 can alert the operator when the dipper 55 is alignedwith another object in the simulated working environment. For example,the application 19 can modify the indicator 100 (e.g., color, size,shape, pattern, or animation) depending on the position of the dipper 55with respect to other objects in the simulated working environment. Inone embodiment, the application 19 displays the indicator 100 in a firstcolor (e.g., green) when the operator positions the dipper 55 within apredetermined distance from the center of the truck bed of a simulatedhaul truck 60 (see FIGS. 8a-c ). If the dipper 55 is not positionedwithin the predetermined distance from the center of the truck bed, theapplication 19 displays the indicator 100 in a second color (e.g., red)(see FIGS. 9a-d ).

In some embodiments, the application 19 uses multiple thresholds andmultiple colors to convey depth information to the operator using theindicator 100. For example, if the dipper 55 is not within a firstpredetermined distance from the center of the truck bed (e.g.,approximately 50 feet), the application 19 displays the indicator 100 ina first color (e.g., red). When the dipper 55 is positioned within asecond predetermined distance from the center of the truck (e.g.,approximately 25 feet) but not within a third, shorter predetermineddistance from the center of the truck bed (e.g., approximately 2 feet),the application 19 displays the indicator 100 in a second color (e.g.,yellow). Finally, when the dipper 55 is positioned within the thirdpredetermined distance from the center of the truck bed, the application19 displays the indicator 100 in a third color (e.g., green). Similarly,the application 19 may use the color of the indicator 100 to convey tothe operator whether the dipper 55 needs to be moved forward or backwardto be properly aligned with the center of the truck bed. The application19 may also display one or more indicators (e.g., arrows or text-basedmessages) in addition to the indicator 100 to inform the operatorwhether the dipper 55 needs to be moved forward or backward to beproperly aligned with the center of the truck bed.

In some embodiments, the application 19 also changes the dipper 55 orother portions of the shovel 50 to further emphasize the currentrelationship between the dipper 55 and the truck 60. For example, asillustrated in FIGS. 8a-c and 9a-d , the application 19 can change thecolor of the dipper 55 to match the current color of the indicator 100.Alternatively or in addition, the application 19 can be configured touse features other than a color of the indicator 100 to inform theoperator when the dipper 55 is properly and/or improperly positioned toload a truck 60 (e.g., using flashing or other animation, text-basedmessages, audible feedback, tactile feedback, etc). Also, as illustratedin FIG. 9a , in some embodiments, the application 19 displays acenterline 120 on the truck 60, which the operator can align with theindicator 100 to position the dipper 55 over a center of the truck 60.The application 19 can also change the color or other features of thecenterline 120 based on whether or not the dipper 55 is positionedwithin a predetermined distance from the centerline 120.

Therefore, embodiments of the invention provide depth-related helpfunctions within a simulated training environment for shovels. Inparticular, embodiments of the invention provide systems and methods forgenerating a simulated training environment including a simulated shovelhaving a simulated dipper, and displaying at least one indicator in thesimulated training providing depth information to an operator relatingto the position of the simulated dipper with respect to apoint-of-reference within the simulated training environment. Asdescribed above, the point-of-reference can include a level-grade planeor the center of a truck bed on a simulated haul truck. However, itshould be understood that the point of reference can include anyposition or object within the simulated environment that the operatormust align the simulated dipper 55 or shovel 50 with, such as a diggingdepth, a shutdown or maintenance height of the dipper 55, a stoppingposition of the shovel, etc. In some embodiments, the point-of-referencecan also be selected or set by an operator. The systems and methods canalso alert or warn the operator when the operator is operating theshovel properly or improperly. Furthermore, it should be understood thatthe depth-related help functions described in the present applicationcan be used in simulated training environments for other types ofindustrial equipment to provide depth information to an operator for aparticular point-of-reference. Therefore, embodiments of the presentinvention are not limited to simulated training environments forshovels.

Various features of the invention are set forth in the following claims.

What is claimed is:
 1. A method for training an operator of a shovel,the method comprising: generating, with a processor, a simulated shovelhaving a simulated dipper within a simulated training environment;generating a simulated haul truck within the simulated trainingenvironment; determining a centerline of a bed of the simulated haultruck; determining a current position of the simulated dipper;determining a current position of the centerline; determining a distancebetween the current position of the simulated dipper and the currentposition of the centerline; and modifying an indicator displayed withinthe simulated training environment when the distance between the currentposition of the simulated dipper and the current position of thecenterline is less than a threshold.
 2. The method of claim 1, furthercomprising determining a swing path of the simulated dipper based on thecurrent position of the simulated dipper.
 3. The method of claim 2,further comprising displaying a graphical representation of the swingpath of the simulated dipper within the simulated training environmentand wherein modifying the indicator includes modifying at least aportion of the graphical representation of the swing path of thesimulated dipper.
 4. The method of claim 2, wherein determining thedistance between the current position of the simulated dipper and thecurrent position of the centerline includes determining the distancebased on the swing path of the simulated dipper.
 5. The method of claim1, further comprising displaying a graphical representation of thecenterline on the simulated haul truck within the simulated trainingenvironment.
 6. The method of claim 5, wherein modifying the indicatorincludes modifying at least a portion of the graphical representation ofthe centerline.
 7. The method of claim 1, wherein modifying theindicator includes modifying at least one selected from a groupconsisting of a color, a size, a shape, a pattern, and an animation ofthe indicator.
 8. The method of claim 1, further comprising modifying atleast a portion of the simulated shovel when the distance between thecurrent position of the simulated dipper and the current position of thecenterline is less than the threshold.
 9. The method of claim 8, whereinmodifying at least the portion of the simulated shovel includesmodifying a first color of the portion of the simulated dipper to matcha second color of the indicator.
 10. The method of claim 1, furthercomprising, when the distance between the current position of thesimulated dipper and the current position of the centerline is less thanthe threshold, providing at least one selected from a group consistingof a text-based message displayed within the simulated trainingenvironment, audible feedback, and tactile feedback.
 11. A system fortraining an operator, the system comprising: a computing deviceincluding a processor and computer-readable medium, thecomputer-readable medium storing a training simulator application,wherein the processor is configured, through execution of the trainingsimulator application, to receive an operating command from theoperator, generate a simulated training environment including asimulated haul truck and a simulated shovel having a simulated dipper,the simulated shovel and the simulated dipper positioned within thesimulated training environment based on the operating command, determinea centerline of a bed of the simulated haul truck, determine a currentposition of the simulated dipper, determine a current position of thecenterline, determine a distance between the current position of thesimulated dipper and the current position of the centerline, and modifyat least one characteristic of an indicator displayed within thesimulated training environment when the distance between the currentposition of the simulated dipper and the current position of thecenterline is less than a threshold.
 12. The system of claim 11, whereinthe processor is further configured to determine a swing path of thesimulated dipper based on the current position of the simulated dipper.13. The system of claim 12, wherein the processor is further configuredto display a graphical representation of the swing path of the simulateddipper within the simulated training environment, and wherein theprocessor is configured to modify the at least one characteristic of theindicator by modifying at least a portion of the graphicalrepresentation of the swing path of the simulated dipper.
 14. The systemof claim 12, wherein the processor is configured to determine thedistance between the current position of the simulated dipper and thecurrent position of the centerline based on the swing path of thesimulated dipper.
 15. The system of claim 11, wherein the processor isfurther configured to display a graphical representation of thecenterline on the simulated haul truck within the simulated trainingenvironment, and wherein the processor is configured to modify the atleast one characteristic of the indicator by modifying at least aportion of the graphical representation of the centerline.
 16. Thesystem of claim 11, wherein the processor is configured to modify the atleast one characteristic of the indicator by modifying at least oneselected from a group consisting of a color, a size, a shape, a pattern,and an animation of the indicator.
 17. The system of claim 11, whereinthe processor is further configured to modify at least a portion of thesimulated shovel when the distance between the current position of thesimulated dipper and the current position of the centerline is less thanthe threshold.
 18. Non-transitory computer-readable medium storinginstructions that, when executed by a processor, cause the processor toperform a set of functions, the set of functions comprising: generatinga simulated shovel having a simulated dipper within a simulated trainingenvironment; generating a simulated haul truck within the simulatedtraining environment; determining a centerline of a bed of the simulatedhaul truck; determining a current position of the simulated dipper;determining a current position of the centerline; determining a distancebetween the current position of the simulated dipper and the currentposition of the centerline; and modifying an indicator displayed withinthe simulated training environment when the distance between the currentposition of the simulated dipper and the current position of thecenterline is less than a threshold.
 19. The computer-readable medium ofclaim 18, wherein the set of functions further comprises determining aswing path of the simulated dipper based on the current position of thesimulated dipper.
 20. The computer-readable medium of claim 19, whereindetermining the distance between the current position of the simulateddipper and the current position of the centerline includes determiningthe distance based on the swing path of the simulated dipper.